DocumentCode
1091726
Title
A neural net controller for underwater robotic vehicles
Author
Yuh, Junku
Author_Institution
Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA
Volume
15
Issue
3
fYear
1990
fDate
7/1/1990 12:00:00 AM
Firstpage
161
Lastpage
166
Abstract
Results of a study on the application of neural networks to the control system of underwater robotic vehicles (URVs) are presented. The robustness of the control system with respect to nonlinear dynamic behavior and parameter uncertainties is investigated by computer simulation. The results show the feasibility of using unpredictable changes in the dynamics of the vehicle and its environment
Keywords
automatic guided vehicles; computerised control; control system analysis computing; digital simulation; marine systems; mobile robots; neural nets; nonlinear control systems; computer simulation; neural net controller; nonlinear dynamic behavior; robustness; underwater robotic vehicles; Application software; Control system synthesis; Control systems; Neural networks; Nonlinear control systems; Nonlinear dynamical systems; Robot control; Robust control; Underwater vehicles; Vehicle dynamics;
fLanguage
English
Journal_Title
Oceanic Engineering, IEEE Journal of
Publisher
ieee
ISSN
0364-9059
Type
jour
DOI
10.1109/48.107144
Filename
107144
Link To Document